CN104885664B - A kind of high-level cultivating supporting shoot transplanting equipment machine people and control method thereof - Google Patents
A kind of high-level cultivating supporting shoot transplanting equipment machine people and control method thereof Download PDFInfo
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- CN104885664B CN104885664B CN201510307036.9A CN201510307036A CN104885664B CN 104885664 B CN104885664 B CN 104885664B CN 201510307036 A CN201510307036 A CN 201510307036A CN 104885664 B CN104885664 B CN 104885664B
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Abstract
The invention discloses a kind of high-level cultivating supporting shoot transplanting equipment machine people and control method thereof, relate to field of agricultural equipment.This robot by moving dolly, hole tray index(ing) feed unit, vertically movable unit, horizontal symmetry moving cell, end effector, perforation unit form.The rice shoot horizontal feed along mobile dolly direct of travel is completed by hole tray index(ing) feed unit, the location of end effector, seedling taking and conveying is realized by vertically movable unit and horizontal symmetry moving cell, and then realized perforating head location and drilling operation by vertically movable unit and card punch horizontal mobile mechanism, and realize punching severity control and the feedback of cultivation bed actual height by the detection of punching resistance, complete to put Seedling finally according to the cultivation bed actual height fed back.Punching is achieved and coordination and the precise match putting Seedling with actively displacement by the transmission on single screw, and achieve punching by force feedback and put that high-level cultivating bed height rises and falls by Seedling operation adapts to automatically, thus the supporting rice shoot meeting high-level cultivating facility transplants needs automatically.
Description
Technical field
The present invention relates to field of agricultural equipment, particularly to a kind of high-level cultivating supporting shoot transplanting equipment machine people and control method thereof.
Background technology
Shoot transplanting equipment is the key link that various crop produces, and the intensity of the frequent repeated labor of labourer is big and wastes time and energy, because of
And mechanization transplanting technology has earned widespread respect and applied, all kinds of rice seedling transplanter products and automatic bowl system are the most a large amount of
Occur and used in fruit and vegerable produce.
High-level cultivating is to be planted in by fruit and vegerable on frame high-level cultivating bed overhead, thus realizes the novel of Labor-saving and clear production
Pattern, the shoot transplanting equipment for high-level cultivating is complete by manually completing at present.Existing transplanter and automatic bowl system are all difficult to
The satisfied shoot transplanting equipment special requirement towards high-level cultivating:
(1) deficiency of ground transplant apparatus
Applying wider semi-automatic transplanter at present, by being accomplished manually point Seedling and need to throw Seedling, operation is nervous, loaded down with trivial details, quality is difficult to ensure
Card.Existing Automatic Transplanter scheme and equipment, such as PF2R riding type all automatic vegetables tree-remover and the PN1A of Japan ocean horse
Vegetable transplanter (modified model) etc. then achieves point Seedling and throwing Seedling automatically, is automatically performed whole transplanting process.But cultivate with ground
Compare, high-level cultivating be plant on frame and overhead by limited space, the inclination of Automatic Transplanter is sent Seedling mode and is taken
Seedling and the mode of planting seedlings are difficult to arrange or complete.For relatively large rice shoot, generally put Seedling earthing by the trench digging on ground and complete to plant
Plant, and in the substrate culture groove formed by non-woven fabrics or plastic film material on overhead, similar fashion cannot be suitable for.
(2) deficiency of automatic bowl system
At present towards changing the robot system that dish is transplanted or transplanted to flowerpot, such as Holland VISSER company, Australia
The automatic plug transplantation machine of TRANSPLANT company, is fixed station posture mechanism, by for Seedling dish and plant between Seedling dish
Streamline coordinating operation, and without the movement of fuselage.Simultaneously as Seedling cavities and the coordinate position standard criterion planting Seedling cavities,
Generally use independent punching to complete with planting mechanism for large-scale rice shoot, and transplant operation the portable of high-level cultivating groove
In, this kind of mode then cannot ensure punching and put the alignment of Seedling.It addition, the construction error of high-level cultivating bed causes cultivation bed to exist
Certain height relief change, automatic bowl system does not possess the adaptation ability to cultivation bed height relief.
(3) deficiency of the supporting transplant apparatus of solid cultivation
Liu Jizhan etc. develop the rail mounted automatization for pillar cultivation and transplant results one management equipment, possess many tray seedlings
Carry and automatic disk-exchanging function, can realize the touring management cultivating column more, but it is for the arm-type shifting of specific mechanical of column
Plant mechanism and mainly solve vertical direction consecutive variations and action matching problem, and the horizontal continuity that cannot meet high-level cultivating bed is transplanted
Need, the most do not possess punching functions.
Summary of the invention
The rice shoot transplanting problem to high-level cultivating bed cannot be met for existing equipment and scheme, it is an object of the invention to provide one
Plant high-level cultivating supporting shoot transplanting equipment machine people and control method thereof, to realize the tray seedling movable type to bilateral high-level cultivating bed
Automatically operation is transplanted.
In order to solve above technical problem, the concrete technical scheme that the present invention uses is as follows:
A kind of high-level cultivating supporting shoot transplanting equipment machine people, it is characterised in that: include by mobile dolly (1), hole tray index(ing) feed
Unit (2), vertically movable unit (6), horizontal symmetry moving cell (5), end effector (7) and perforation unit；Perpendicular
The frame of straight moving cell (6) is fixed on the car body of mobile dolly (1), the moving member of vertically movable unit (6) and water
The framework (14) of flat symmetric motion unit (5) is fixed, and the frame of hole tray index(ing) feed unit (2) is fixed on mobile dolly (1)
Car body on, hole tray (9) to be transplanted is placed horizontally on the all-moving surface of hole tray index(ing) feed unit (2), end effector
7 are fixed on the slide unit (13) of horizontal symmetry moving cell (5), and perforation unit is moved with horizontal symmetry by nut (22)
The two-way leading screw (15) of unit (5) constitutes worm drive.
Described perforation unit is by perforating head (3), stock (4), force transducer (10), card punch horizontal mobile mechanism (11)
Composition；Perforating head (3) and stock (4) are individually fixed in the two ends of force transducer (10), and stock (4) is fixed on punching
On device horizontal mobile mechanism (11)；
Described card punch horizontal mobile mechanism (11) includes sliding bearing (17), thrust bearing (18), motor (19), master
Moving gear (20), driven gear (21), nut (22) and housing (23)；Housing (23) passes through sliding bearing (17)
Being connected with guide rod (16), motor (19) is fixed on housing 23；Driving gear (20) is installed on the defeated of motor (19)
On shaft, driven gear (21) and the fixing connection of nut (22), driven gear (21) and nut (22) pass through thrust shaft
Holding (18) to be installed on housing (23), two-way leading screw (15) constitutes worm drive, driven gear (21) with nut (22)
Gear drive is constituted with driving gear (20).
Control method according to described a kind of high-level cultivating supporting shoot transplanting equipment machine people, it is characterised in that include following action step
Rapid:
Step one, makes mobile dolly (1) enter the passageway between two high-level cultivating beds (8)；
Step 2, makes mobile dolly (1) automatically advance along passageway between high-level cultivating bed (8) by navigation；
Step 3, utilizes hole tray index(ing) feed unit (2) to complete hole tray (9) interior rice shoot along mobile dolly (1) direct of travel
Horizontal feed；
Step 4, utilizes vertically movable unit (6) and horizontal symmetry moving cell (5) to be positioned by end effector (7)
Hole tray is treated above seedling taking Seedling in (9)；
Step 5, drives end effector (7) to move downward and grip in hole tray (9) by vertically movable unit (6)
Rice shoot；
Step 6, then, vertically movable unit (6) drives end effector (7) to carry picked up rice shoot and transports straight up
Dynamic；
Step 7, in card punch horizontal mobile mechanism (11), utilizes motor (19) to drive driven by driving gear (20)
Gear (21) and nut (22) synchronous axial system, by the screw-driven band between two-way leading screw (15) and nut (22)
Dynamic perforating head (3) is along moving horizontally, and makes perforating head (3) be positioned above the cultivation bed of high-level cultivating bed (8), punching
The altitude datum that head (3) positions is H1；
Step 8, vertically movable unit (6) drives perforating head (3) to move straight down, it is achieved to high-level cultivating bed (8)
Cultivation bed in the punching of substrate；
Step 9, detects beating of vertical direction in real time by the force transducer (10) between perforating head (3) and stock (4)
Hole resistance N, and judge that punching resistance N has reached resistance threshold value N the most0；
Step 10, when punching resistance N is not reaching to resistance threshold value N0Time, vertically movable unit (6) drives perforating head (3) to continue
Continue and move straight down；When punching resistance N has reached resistance threshold value N0Time, show to have reached the depth requirements D that punches0, then erect
Straight moving cell (6) stops, and control system calculates cultivation bed actual height H of high-level cultivating bed (8) and punches vertically simultaneously
Displacement S1；
Step 11, when completing depth H0Drilling operation after, utilize vertically movable unit (6) to drive perforating head (3) vertical
Move upward and return to altitude datum H1, so that perforating head leaves the cultivation bed of high-level cultivating bed (8)；
Step 12, card punch horizontal mobile mechanism (11) drives perforating head (3) to move to far-end, avoids high-level cultivating bed
(8) cultivation bed upper space；
Step 13, drives end effector (7) clamping rice shoot along moving horizontally and fixed by horizontal symmetry moving cell (5)
It is positioned at above the cultivation bed of high-level cultivating bed (8)；
Step 14, vertically movable unit (6) drives end effector (7) to put Seedling displacement S straight down2, rice shoot is put into
In the hole that the cultivation bed of high-level cultivating bed (8) is accomplished fluently；
Step 15, vertically movable unit (6) drives end effector (7) to move straight up, and then return step one is held
The transplanting action in next cycle of row.
Punching vertical displacement S1By control system according to during punching from vertically movable unit (6) start to stopped process vertical to
Bottom offset amount calculates and record automatically, and then is calculated cultivation bed actual height H of high-level cultivating bed (8)
H=H1-S1+D0 (1)
D0For punching depth requirements, H1The altitude datum of vertical drilling operation and reset is started for perforating head 3.
Described put Seedling displacement S straight down2Computational methods are as follows
S2=S1+H0 (2)
H0Lower end and the difference in height of end effector (7) lower end for perforating head (3).
The present invention has beneficial effect.The present invention achieves punching and the coordination putting Seedling by utilizing the transmission on single screw with actively displacement
Action and precise match, and achieve punching by force feedback and put the automatic adaptation that high-level cultivating bed height is risen and fallen by Seedling operation,
Thus the supporting rice shoot meeting high-level cultivating facility transplants needs automatically.
Accompanying drawing explanation
Fig. 1 is high-level cultivating of the present invention supporting shoot transplanting equipment machine people's population structure schematic diagram.
Fig. 2 is transplant robot upper body structural representation of the present invention.
Fig. 3 is horizontal symmetry moving cell structural representation of the present invention.
Fig. 4 is card punch horizontal mobile mechanism structural representation of the present invention.
Fig. 5 is high-level cultivating of the present invention supporting shoot transplanting equipment machine people's control flow block diagram.
In figure: 1. move dolly, 2. hole tray index(ing) feed unit, 3. perforating head, 4. stock, 5. horizontal symmetry moving cell,
6. vertically movable unit, 7. end effector, 8. high-level cultivating bed, 9. hole tray, 10. force transducer, 11. card punch levels are moved
Motivation structure, 12. symmetrical horizontal drive mechanisms, 13. slide units, 14. frameworks, 15. two-way leading screws, 16. guide rods, 17. sliding bearings,
18. thrust bearings, 19. motors, 20. driving gears, 21. driven gears, 22. nuts, 23. housings.
Detailed description of the invention
Below in conjunction with the accompanying drawings and specific embodiment, technical scheme is described in further detail.
As depicted in figs. 1 and 2, the high-level cultivating of the present invention supporting shoot transplanting equipment machine people by move dolly 1, hole tray interval enter
To unit 2, vertically movable unit 6, horizontal symmetry moving cell 5, end effector 7, perforation unit composition.The most vertical
The frame of moving cell 6 is fixed on the car body of mobile dolly 1, and the moving member of vertically movable unit 6 is single with horizontal symmetry motion
The framework 14 of unit 5 is fixed.The frame of hole tray index(ing) feed unit 2 is fixed on the car body of mobile dolly 1, cave to be transplanted
Dish 9 is placed horizontally on the all-moving surface of hole tray index(ing) feed unit 2.
As it is shown on figure 3, the horizontal symmetry moving cell 5 of the present invention includes symmetrical horizontal drive mechanism 12, framework 14, two-way
Leading screw 15, guide rod 16 and two slide units 13.Two sections, the left and right of the most two-way leading screw 15 reach is identical and oppositely oriented.
Two-way leading screw 15 two ends are installed on framework 14 by bearing, and framework is fixed at guide rod 16 two ends parallel with two-way leading screw 15
On 14.End effector 7 is fixed on slide unit 13, two slide units 13 respectively with about two sections rotation direction phases of two-way leading screw 15
Left-hand thread constitutes worm drive, and symmetrical horizontal drive mechanism 12 drives two-way leading screw 15 to rotate, makes two slide units 13 along guide rod
16 symmetrical levels are slided.
As shown in Figure 3 and Figure 4, perforation unit is by perforating head 3, stock 4, force transducer 10, card punch horizontal mobile mechanism
11 compositions.Perforating head 3 and stock 4 are individually fixed in the two ends of force transducer 10, and stock 4 is fixed on card punch and moves horizontally
In mechanism 11.Wherein card punch horizontal mobile mechanism 11 includes sliding bearing 17, thrust bearing 18, motor 19, driving tooth
Wheel 20, driven gear 21, nut 22 and housing 23.Housing 23 is connected with guide rod 16 by sliding bearing 17, motor 19
It is fixed on housing 23.Driving gear 20 is installed on the output shaft of motor 19, and driven gear 21 and nut 22 are fixing even
Connecing, driven gear 21 and nut 22 are installed on housing 23 by thrust bearing 18, and two-way leading screw 15 is constituted with nut 22
Worm drive, driven gear 21 and driving gear 20 constitute gear drive.
As it is shown in figure 5, it is automatic to utilize the high-level cultivating supporting shoot transplanting equipment machine people of the present invention that high-level cultivating bed 8 is carried out rice shoot
The control process transplanted is as follows:
(1) move dolly 1 and enter 8 passageways of two high-level cultivating beds；
(2) move dolly 1 automatically to advance along 8 passageways of high-level cultivating bed；
(3) in hole tray index(ing) feed unit 2 completes hole tray 9, rice shoot is along the horizontal feed of mobile dolly 1 direct of travel；
(4) vertically movable unit 6 and horizontal symmetry moving cell 5 treat seedling taking Seedling in end effector 7 is positioned hole tray 9
Top；
(5) vertically movable unit 6 drives end effector 7 to move downward and grip the rice shoot in hole tray 9；
(6) vertically movable unit 6 drives end effector 7 to carry picked up rice shoot to move straight up；
(7), in card punch horizontal mobile mechanism 11, motor 19 drives driven gear 21 and nut 22 by driving gear 20
Synchronous axial system, by the screw-driven drive perforating head 3 between two-way leading screw 15 and nut 22 along moving horizontally,
And making perforating head 3 be positioned above the cultivation bed of high-level cultivating bed 8, the altitude datum of perforating head 3 location is H1
(Fig. 2)；
(8) vertically movable unit 6 drives perforating head 3 to move straight down, carries out base in the cultivation bed to high-level cultivating bed 8
The punching of matter；
(9) force transducer 10 between perforating head 3 and stock 4 detects the punching resistance N of vertical direction in real time, and judges punching
Resistance N has reached resistance threshold value N the most0, resistance threshold value N0By the punching depth requirements of specific cultivation bed and substrate
D0Determined.
By test, for the peat composed of rotten mosses-Vermiculitum-perlite mixed-matrix of moisture content 30%, when punching depth requirements
D0When being 10 centimetres, when trepanning velocity is 10 cel, resistance threshold value N0For 45N.
(10) resistance threshold value N has been reached as punching resistance N0, show to have reached the depth requirements D that punches0, then vertically movable single
Unit 6 stops, thus the cultivation bed automatically adapting to high-level cultivating bed 8 exists height relief change and ensures that punching is deep
Degree requirement.Meanwhile, control system calculates cultivation bed actual height H and the punching vertical displacement of high-level cultivating bed 8
S1(Fig. 2), the cultivation bed actual height of wherein high-level cultivating bed 8
H=H1-S1+D0 (1)
Wherein punching vertical displacement S1Started to stop from vertically movable unit 6 according to during punching by control system
(punching resistance N reaches resistance threshold value N0) displacement of process calculates and record automatically, H1For perforating head 3
Start the altitude datum of vertical drilling operation and reset.
Work as H1=95 meters, S1=17 centimetres, D0When being 10 centimetres, this position of high-level cultivating bed 8 can be obtained according to formula (1)
Cultivation bed actual height H put is 88 centimetres.
(11) vertically movable unit 6 drives perforating head 3 to move back into altitude datum H straight up1, so that perforating head leaves
The cultivation bed of high-level cultivating bed 8；
(12) card punch horizontal mobile mechanism 11 drives perforating head 3 to move to far-end, gets out of the way on high-level cultivating bed 8 cultivation bed
Space, portion；
(13) horizontal symmetry moving cell 5 drives end effector 7 to clamp rice shoot along moving horizontally and being positioned high-level cultivating bed
Above the cultivation bed of 8；
(14) vertically movable unit 6 drives end effector 7 to move straight down, and rice shoot is put into the cultivation of high-level cultivating bed 8
In the hole that training groove is accomplished fluently, put Seedling displacement the most straight down
S2=S1+H0 (2)
Wherein H0For the difference in height of lower end and end effector 7 lower end of perforating head 3, thus according to drill process
The detection of middle force transducer 10 ensure that cultivation bed height when end effector 7 puts Seedling to high-level cultivating bed 8
The automatic adaptation of fluctuations.
Work as H0=3 centimetres, S1When=17 centimetres, can obtain according to formula (2) and put Seedling displacement straight down is S2It it is 20 lis
Rice.
(15) vertically movable unit 6 drives end effector 7 to move straight up, and then performs the transplanting action in next cycle.
Claims (4)
1. a high-level cultivating supporting shoot transplanting equipment machine people, it is characterised in that: include mobile dolly (1), hole tray index(ing) feed
Unit (2), vertically movable unit (6), horizontal symmetry moving cell (5), end effector (7) and perforation unit；Vertically
The frame of moving cell (6) is fixed on the car body of mobile dolly (1), the moving member of vertically movable unit (6) and level pair
The framework (14) claiming moving cell (5) is fixed, and the frame of hole tray index(ing) feed unit (2) is fixed on mobile dolly (1)
On car body, hole tray (9) to be transplanted is placed horizontally on the all-moving surface of hole tray index(ing) feed unit (2), end effector (7)
Being fixed on the slide unit (13) of horizontal symmetry moving cell (5), perforation unit is single with horizontal symmetry motion by nut (22)
The two-way leading screw (15) of unit (5) constitutes worm drive；
Described perforation unit is by perforating head (3), stock (4), force transducer (10), card punch horizontal mobile mechanism (11) group
Become；Perforating head (3) and stock (4) are individually fixed in the two ends of force transducer (10), and stock (4) is fixed on card punch water
In flat travel mechanism (11)；
Described card punch horizontal mobile mechanism (11) includes sliding bearing (17), thrust bearing (18), motor (19), actively
Gear (20), driven gear (21), nut (22) and housing (23)；Housing (23) passes through sliding bearing (17) and leads
Bar (16) connects, and motor (19) is fixed on housing (23)；Driving gear (20) is installed on the output of motor (19)
On axle, driven gear (21) and the fixing connection of nut (22), driven gear (21) and nut (22) pass through thrust bearing
(18) being installed on housing (23), two-way leading screw (15) constitutes worm drive, driven gear (21) with nut (22)
Gear drive is constituted with driving gear (20).
The control method of a kind of high-level cultivating the most according to claim 1 supporting shoot transplanting equipment machine people, it is characterised in that bag
Include following action step:
Step one, makes mobile dolly (1) enter the passageway between two high-level cultivating beds (8)；
Step 2, makes mobile dolly (1) automatically advance along passageway between high-level cultivating bed (8) by navigation；
Step 3, utilizes hole tray index(ing) feed unit (2) to complete hole tray (9) interior rice shoot along mobile dolly (1) direct of travel
Horizontal feed；
Step 4, utilizes vertically movable unit (6) and horizontal symmetry moving cell (5) that end effector (7) is positioned cave
Dish is treated above seedling taking Seedling in (9)；
Step 5, drives end effector (7) to move downward and grip the seedling in hole tray (9) by vertically movable unit (6)
Seedling；
Step 6, then, vertically movable unit (6) drives end effector (7) to carry picked up rice shoot and transports straight up
Dynamic；
Step 7, in card punch horizontal mobile mechanism (11), utilizes motor (19) to drive driven by driving gear (20)
Gear (21) and nut (22) synchronous axial system, driven by the screw-driven between two-way leading screw (15) and nut (22)
Perforating head (3) is along moving horizontally, and makes perforating head (3) be positioned above the cultivation bed of high-level cultivating bed (8), perforating head (3)
The altitude datum of location is H1；
Step 8, vertically movable unit (6) drives perforating head (3) to move straight down, it is achieved to high-level cultivating bed (8)
The punching of substrate in cultivation bed；
Step 9, detects beating of vertical direction in real time by the force transducer (10) between perforating head (3) and stock (4)
Hole resistance N, and judge that punching resistance N has reached resistance threshold value N the most0；
Step 10, when punching resistance N is not reaching to resistance threshold value N0Time, vertically movable unit (6) drives perforating head (3) to continue
Continue and move straight down；When punching resistance N has reached resistance threshold value N0Time, show to have reached the depth requirements D that punches0, then erect
Straight moving cell (6) stops, and control system calculates cultivation bed actual height H of high-level cultivating bed (8) and punches vertically simultaneously
Displacement S1；
Step 11, when completing degree of depth D0Drilling operation after, utilize vertically movable unit (6) to drive perforating head (3) vertical
Move upward and return to altitude datum H1, so that perforating head leaves the cultivation bed of high-level cultivating bed (8)；
Step 12, card punch horizontal mobile mechanism (11) drives perforating head (3) to move to far-end, avoids high-level cultivating bed (8)
Cultivation bed upper space；
Step 13, drives end effector (7) clamping rice shoot along moving horizontally and fixed by horizontal symmetry moving cell (5)
It is positioned at above the cultivation bed of high-level cultivating bed (8)；
Step 14, vertically movable unit (6) drives end effector (7) to put Seedling displacement S straight down2, rice shoot is put into
In the hole that the cultivation bed of high-level cultivating bed (8) is accomplished fluently；
Step 15, vertically movable unit (6) drives end effector (7) to move straight up, and then return step one is held
The transplanting action in next cycle of row.
The control method of a kind of high-level cultivating the most according to claim 2 supporting shoot transplanting equipment machine people, is further characterized in that:
Punching vertical displacement S1By control system according to the displacement straight down starting to stopped process during punching from vertically movable unit (6)
Amount calculates and record automatically, and then is calculated cultivation bed actual height H of high-level cultivating bed (8)
H=H1-S1+D0 (1)
D0For punching depth requirements, H1The altitude datum of vertical drilling operation and reset is started for perforating head (3).
The control method of a kind of high-level cultivating the most according to claim 2 supporting shoot transplanting equipment machine people, is further characterized in that:
Described put Seedling displacement S straight down2Computational methods are as follows
S2=S1+H0 (2)
H0Lower end and the difference in height of end effector (7) lower end for perforating head (3).
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| CN201510307036.9A CN104885664B (en) | 2015-06-04 | 2015-06-04 | A kind of high-level cultivating supporting shoot transplanting equipment machine people and control method thereof |
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| CN201510307036.9A CN104885664B (en) | 2015-06-04 | 2015-06-04 | A kind of high-level cultivating supporting shoot transplanting equipment machine people and control method thereof |
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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105453943B (en) * | 2015-12-31 | 2018-04-24 | 江苏大学 | The supporting matrix automatic paver of high-level cultivating |
| CN105684615B (en) * | 2016-01-26 | 2018-01-02 | 西南大学 | A kind of real-time mechanism for monitoring of transplanting depth |
| CN106211886B (en) * | 2016-07-26 | 2018-07-06 | 北京工业大学 | A kind of reversible coordinated type Plug seedling cuttage hand claw |
| CN106718171B (en) * | 2016-11-29 | 2020-11-06 | 河南科技大学 | Sapling cuts seedling production line |
| CN107646265B (en) * | 2017-11-16 | 2023-05-23 | 山东农业大学 | Automatic seedling taking and throwing platform of seedling taking and throwing device and suspension cup type transplanting machine |
| CN108124561B (en) * | 2018-02-08 | 2019-10-01 | 江苏大学 | A kind of the hole tray Strawberry Seedlings transplant robot and its working method of high ridge cultivation |
| CN110226420B (en) * | 2019-06-12 | 2021-05-18 | 河南农业大学 | Method and automatic device for automatic seedling raising of paulownia container |
| CN110881323B (en) * | 2019-12-25 | 2021-10-26 | 浙江省亚热带作物研究所 | Efficient and simple tea seedling cuttage rapid propagation method |
| CN111136635B (en) * | 2019-12-27 | 2021-06-29 | 广东电网有限责任公司 | Archive management robot |
| CN112385374A (en) * | 2020-11-09 | 2021-02-23 | 中国农业大学 | Green Chinese onion transplanter and seedling taking method |
| CN112385448B (en) * | 2020-11-30 | 2022-09-09 | 安徽省陆虎生物科技有限公司 | Elevated strawberry cultivation device |
| CN117121783A (en) * | 2023-10-08 | 2023-11-28 | 遵义金丰农资有限公司 | Idesia polycarpa seedling transplanting method and application |
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